Steerable laser probe

ABSTRACT

A steerable laser probe may include a handle, an actuation structure of the handle, a housing tube, a wire having a pre-formed curve, and an optic fiber disposed within the housing tube and an inner bore of the handle. The housing tube may include a first housing tube portion having a first stiffness and a second housing tube portion having a second stiffness. The second stiffness may be greater than the first stiffness. A compression of the actuation structure may curve or straighten the housing tube. A decompression of the actuation structure may curve or straighten the housing tube.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional Application No.61/644,773, filed May 9, 2012.

FIELD OF THE INVENTION

The present disclosure relates to a surgical instrument, and, moreparticularly, to a steerable laser probe.

BACKGROUND OF THE INVENTION

A wide variety of ophthalmic procedures require a laser energy source.For example, ophthalmic surgeons may use laser photocoagulation to treatproliferative retinopathy. Proliferative retinopathy is a conditioncharacterized by the development of abnormal blood vessels in the retinathat grow into the vitreous humor. Ophthalmic surgeons may treat thiscondition by energizing a laser to cauterize portions of the retina toprevent the abnormal blood vessels from growing and hemorrhaging.

In order to increase the chances of a successful laser photocoagulationprocedure, it is important that a surgeon is able aim the laser at aplurality of targets within the eye, e.g., by guiding or moving thelaser from a first target to a second target within the eye. It is alsoimportant that the surgeon is able to easily control a movement of thelaser. For example, the surgeon must be able to easily direct a laserbeam by steering the beam to a first position aimed at a first target,guide the laser beam from the first position to a second position aimedat a second target, and hold the laser beam in the second position.Accordingly, there is a need for a surgical laser probe that can beeasily guided to a plurality of targets within the eye.

BRIEF SUMMARY OF THE INVENTION

The present disclosure presents a steerable laser probe. In one or moreembodiments, a steerable laser probe may comprise a handle, an actuationstructure of the handle, a housing tube, a wire having a pre-formedcurve, and an optic fiber disposed within the housing tube and an innerbore of the handle. Illustratively, the housing tube may comprise afirst housing tube portion having a first stiffness and a second housingtube portion having a second stiffness. In one or more embodiments, thesecond stiffness may be greater than the first stiffness.

Illustratively, a compression of the actuation structure may beconfigured to gradually curve the housing tube. In one or moreembodiments, a gradual curving of the housing tube may be configured togradually curve the optic fiber. Illustratively, a decompression of theactuation structure may be configured to gradually straighten thehousing tube. In one or more embodiments, a gradual straightening of thehousing tube may be configured to gradually straighten the optic fiber.

Illustratively, a decompression of the actuation structure may beconfigured to gradually curve the housing tube. In one or moreembodiments, a gradual curving of the housing tube may be configured togradually curve the optic fiber. Illustratively, a compression of theactuation structure may be configured to gradually straighten thehousing tube. In one or more embodiments, a gradual straightening of thehousing tube may be configured to gradually straighten the optic fiber.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and further advantages of the present invention may be betterunderstood by referring to the following description in conjunction withthe accompanying drawings in which like reference numerals indicateidentical or functionally similar elements:

FIGS. 1A and 1B are schematic diagrams illustrating a handle;

FIGS. 2A, 2B, and 2C are schematic diagrams illustrating a housing tube;

FIG. 3 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 4A, 4B, 4C, 4D, and 4E illustrate a gradual curving of an opticfiber;

FIGS. 5A, 5B, 5C, 5D, and 5E illustrate a gradual straightening of anoptic fiber;

FIGS. 6A and 6B are schematic diagrams illustrating a handle;

FIG. 7 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 8A, 8B, 8C, 8D, and 8E illustrate a gradual curving of an opticfiber;

FIGS. 9A, 9B, 9C, 9D, and 9E illustrate a gradual straightening of anoptic fiber;

FIGS. 10A and 10B are schematic diagrams illustrating a handle;

FIG. 11 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly;

FIGS. 12A, 12B, 12C, 12D, and 12E illustrate a gradual curving of anoptic fiber;

FIGS. 13A, 13B, 13C, 13D, and 13E illustrate a gradual straightening ofan optic fiber.

DETAILED DESCRIPTION OF AN ILLUSTRATIVE EMBODIMENT

FIGS. 1A and 1B are schematic diagrams illustrating a handle 100. FIG.1A illustrates a top view of handle 100. In one or more embodiments,handle 100 may comprise a handle distal end 101, a handle proximal end102, a handle base 110, an actuation structure 120, an actuation ring130, an actuation mechanism housing 135, a platform base 140, anactuation mechanism guide 145, and a housing tube platform 150.Illustratively, actuation structure 120 may comprise an actuationstructure distal end 121 and an actuation structure proximal end 122. Inone or more embodiments, actuation structure 120 may comprise aplurality of actuation arms 125. Illustratively, each actuation arm 125may comprise at least one extension mechanism 126. In one or moreembodiments, actuation structure 120 may comprise a shape memorymaterial configured to project actuation structure distal end 121 afirst distance from actuation structure proximal end 122, e.g., whenactuation structure 120 is fully decompressed. Illustratively, actuationstructure 120 may comprise a shape memory material configured to projectactuation structure distal end 121 a second distance from actuationstructure proximal end 122, e.g., when actuation structure 120 is fullycompressed. In one or more embodiments, the second distance fromactuation structure proximal end 122 may be greater than the firstdistance from actuation structure proximal end 122. Actuation structure120 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials.

Illustratively, actuation structure 120 may be compressed by anapplication of a compressive force to actuation structure 120. In one ormore embodiments, actuation structure 120 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 120.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure120. For example, a surgeon may compress actuation structure 120 bysqueezing actuation structure 120. Illustratively, the surgeon maycompress actuation structure 120 by squeezing actuation structure 120 atany particular location of a plurality of locations around an outerperimeter of actuation structure 120. For example, a surgeon may rotatehandle 100 and compress actuation structure 120 from any rotationalposition of a plurality of rotational positions of handle 100.

In one or more embodiments, actuation structure 120 may be compressed byan application of a compressive force to any one or more of theplurality of actuation arms 125. Illustratively, each actuation arm 125may be configured to actuate independently. In one or more embodiments,each actuation arm 125 may be connected to one or more of the pluralityof actuation arms 125 wherein an actuation of a particular actuation arm125 may be configured to actuate every actuation arm 125 of theplurality of actuation arms 125. Illustratively, one or more actuationarms 125 may be configured to actuate in pairs or groups. For example,an actuation of a first actuation arm 125 may be configured to actuate asecond actuation arm 125.

In one or more embodiments, a compression of actuation structure 120,e.g., due to an application of a compressive force to a particularactuation arm 125, may be configured to actuate the particular actuationarm 125. Illustratively, an actuation of the particular actuation arm125 may be configured to actuate every actuation arm 125 of theplurality of actuation arms 125. In one or more embodiments, anapplication of a compressive force to a particular actuation arm 125 maybe configured to extend at least one extension mechanism 126 of theparticular actuation arm 125. Illustratively, a particular actuation arm125 may be configured to extend a first length from handle base 110. Anextension of an extension mechanism 126 of the particular actuation arm125, e.g., due to an application of a compressive force to theparticular actuation arm 125, may be configured to extend the particularactuation arm 125 a second length from handle base 110. Illustratively,the second length from handle base 110 may be greater than the firstlength from handle base 110.

In one or more embodiments, actuation ring 130 may be fixed to actuationstructure distal end 121. Illustratively, a compression of actuationstructure 120 may be configured to gradually extend actuation ring 130from handle base 110. For example, actuation ring 130 may be configuredto extend a first distance from actuation structure proximal end 122,e.g., when actuation structure 120 is fully decompressed. Actuation ring130 may be configured to extend a second distance from actuationstructure proximal end 122, e.g., due to a compression of actuationstructure 120. Illustratively, the second distance from actuationstructure proximal end 122 may be greater than the first distance fromactuation structure proximal end 122.

FIG. 1B illustrates a cross-sectional view of handle 100. In one or moreembodiments, handle 100 may comprise an inner bore 160, an inner boreproximal taper 161, an inner bore distal chamber 162, an optic fiberproximal guide 163, a wire housing 164, and an optic fiber distal guide165. Handle 100 may be manufactured from any suitable material, e.g.,polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

FIGS. 2A, 2B, and 2C are schematic diagrams illustrating a housing tube200. In one or more embodiments, housing tube 200 may comprise a housingtube distal end 201 and a housing tube proximal end 202. Housing tube200 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials. Illustratively, housing tube 200 may be manufactured atdimensions configured to perform microsurgical procedures, e.g.,ophthalmic surgical procedures.

FIG. 2A illustrates a housing tube 200 oriented to illustrate a firsthousing tube portion 220. Illustratively, first housing tube portion 220may have a first stiffness. FIG. 2B illustrates a housing tube 200oriented to illustrate a second housing tube portion 230.Illustratively, second housing tube portion 230 may have a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 220 may comprise a first material having a first stiffness. Inone or more embodiments, second housing tube portion 230 may comprise asecond material having a second stiffness. Illustratively, the secondstiffness may be greater than the first stiffness.

In one or more embodiments, housing tube 200 may comprise a non-uniforminner diameter or a non-uniform outer diameter, e.g., to vary astiffness of one or more portions of housing tube 200. Illustratively, afirst housing tube portion 220 may comprise a first inner diameter ofhousing tube 200 and a second housing tube portion 230 may comprise asecond inner diameter of housing tube 200. In one or more embodiments,the first inner diameter of housing tube 200 may be larger than thesecond inner diameter of housing tube 200. Illustratively, a firsthousing tube portion 220 may comprise a first outer diameter of housingtube 200 and a second housing tube portion 230 may comprise a secondouter diameter of housing tube 200. In one or more embodiments, thefirst outer diameter of housing tube 200 may be smaller than the secondouter diameter of housing tube 200.

In one or more embodiments, first housing tube portion 220 may compriseone or more apertures configured to produce a first stiffness of firsthousing tube portion 220. Illustratively, second housing tube portion230 may comprise a solid portion of housing tube 200 having a secondstiffness. In one or more embodiments, the second stiffness may begreater than the first stiffness. Illustratively, first housing tubeportion 220 may comprise one or more apertures configured to produce afirst stiffness of first housing tube portion 220. In one or moreembodiments, second housing tube portion 230 may comprise one or moreapertures configured to produce a second stiffness of second housingtube portion 230. Illustratively, the second stiffness may be greaterthan the first stiffness.

In one or more embodiments, first housing tube portion 220 may comprisea plurality of slits configured to separate one or more solid portionsof housing tube 200. Illustratively, a plurality of slits may be cut,e.g., laser cut, into first housing tube portion 220. In one or moreembodiments, first housing tube portion 220 may comprise a plurality ofslits configured to minimize a force of friction between housing tube200 and a cannula, e.g., as housing tube 200 is inserted into thecannula or as housing tube 200 is extracted from the cannula. Forexample, each slit of the plurality of slits may comprise one or morearches configured to minimize a force of friction between housing tube200 and a cannula.

FIG. 2C illustrates an angled view of housing tube 200. Illustratively,an optic fiber 250 may be disposed within housing tube 200. In one ormore embodiments, optic fiber 250 may be disposed within housing tube200 wherein an optic fiber distal end 251 is adjacent to housing tubedistal end 201. Illustratively, optic fiber 250 may be disposed withinhousing tube 200 wherein optic fiber 250 may be adjacent to a portion offirst housing tube portion 220. In one or more embodiments, a portion ofoptic fiber 250 may be fixed to an inner portion of housing tube 200,e.g., by an adhesive or any suitable fixation means.

FIG. 3 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 300. In one or more embodiments,steerable laser probe assembly 300 may comprise a handle 100, a housingtube 200 having a housing tube distal end 201 and a housing tubeproximal end 202, an optic fiber 250 having an optic fiber distal end251 and an optic fiber proximal end 252, a wire 340 having a wire distalend 341 and a wire proximal end 342, an actuation mechanism 310, and alight source interface 320. Illustratively, light source interface 320may be configured to interface with optic fiber 250, e.g., at opticfiber proximal end 252. In one or more embodiments, light sourceinterface 320 may comprise a standard light source connector, e.g., anSMA connector.

Illustratively, housing tube 200 may be fixed to housing tube platform150, e.g., housing tube proximal end 202 may be fixed to handle proximalend 101. In one or more embodiments, housing tube 200 may be fixed tohousing tube platform 150, e.g., by an adhesive or by any suitablefixation means. Illustratively, a portion of housing tube 200 may bedisposed within optic fiber distal guide 165, e.g., housing tubeproximal end 202 may be disposed within optic fiber distal guide 165. Inone or more embodiments, a portion of housing tube 200 may be fixedwithin optic fiber distal guide 165, e.g., by an adhesive or by anysuitable fixation means.

Illustratively, optic fiber 250 may be disposed within inner bore 160,inner bore distal chamber 162, optic fiber proximal guide 163, opticfiber distal guide 165, and housing tube 200. In one or moreembodiments, optic fiber 250 may be disposed within housing tube 200wherein optic fiber distal end 251 is adjacent to housing tube distalend 201. Illustratively, a portion of optic fiber 250 may be fixed to aninner portion of housing tube 200, e.g., by an adhesive or by anysuitable fixation means.

Illustratively, a portion of wire 340 may comprise a pre-formed curve345. In one or more embodiments, a portion of wire 340 may comprise ashape memory material, e.g., Nitinol. Illustratively, pre-formed curve345 may comprise a shape memory material, e.g., Nitinol. In one or moreembodiments, wire 340 may be disposed within wire housing 164, opticfiber distal guide 165, and housing tube 200. Illustratively, actuationmechanism 310 may be housed within actuation mechanism housing 135. Inone or more embodiments, a portion of actuation mechanism 310 may bedisposed within wire housing 164. Illustratively, actuation mechanism310 may be configured to fix a portion of wire 340, e.g., wire proximalend 342, in a position relative to actuation ring 130. In one or moreembodiments, actuation mechanism 310 may comprise a set screw configuredto fix wire 340 in a position relative to actuation ring 130, e.g., by apress fit or any other suitable fixation means. Illustratively, aportion of wire 340, e.g., wire proximal end 342, may be fixed toactuation mechanism 310, e.g., by an adhesive or any other suitablefixation means. Wire 340 may be manufactured from any suitable material,e.g., polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

In one or more embodiments, a compression of actuation structure 120 maybe configured to actuate actuation ring 130, e.g., away from handleproximal end 102 and towards handle distal end 101. Illustratively, acompression of actuation structure 120 may be configured to actuateactuation mechanism 310 along actuation mechanism guide 145, e.g., awayfrom handle proximal end 102 and towards handle distal end 101. In oneor more embodiments, a compression of actuation structure 120 may beconfigured to extend wire 340 relative to housing tube 200.Illustratively, an extension of wire 340 relative to housing tube 200may be configured to extend a portion of wire 340, e.g., pre-formedcurve 345, within housing tube 200. In one or more embodiments, acompression of actuation structure 120 may be configured to actuatepre-formed curve 345 within housing tube 200, e.g., away from housingtube proximal end 202 and towards housing tube distal end 201.Illustratively, a compression of actuation structure 120 may beconfigured to extend pre-formed curve 345 within housing tube 200, e.g.,away from housing tube proximal end 202 and towards first housing tubeportion 220.

In one or more embodiments, a portion of housing tube 200 may beconfigured to generally straighten pre-formed curve 345. Illustratively,an actuation of pre-formed curve 345 out of a portion of housing tube200 configured to generally straighten pre-formed curve 345 may beconfigured to cause housing tube 200 to gradually curve. In one or moreembodiments, an actuation of pre-formed curve 345 into a portion ofhousing tube 200, e.g., first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually curve. For example, aspre-formed curve 345 is actuated out from a portion of housing tube 200and into first housing tube portion 220, one or more properties, e.g., astiffness, of first housing tube portion 220 may be configured to allowpre-formed curve 345 to gradually curve. Illustratively, a compressionof actuation structure 120 may be configured to gradually curve housingtube 200. In one or more embodiments, a gradual curving of housing tube200 may be configured to gradually curve optic fiber 250.Illustratively, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250.

In one or more embodiments, a decompression of actuation structure 120may be configured to actuate actuation ring 130, e.g., away from handledistal end 101 and towards handle proximal end 102. Illustratively, adecompression of actuation structure 120 may be configured to actuateactuation mechanism 310 along actuation mechanism guide 145, e.g., awayfrom handle distal end 101 and towards handle proximal end 102. In oneor more embodiments, a decompression of actuation structure 120 may beconfigured to retract wire 340 relative to housing tube 200.Illustratively, a retraction of wire 340 relative to housing tube 200may be configured to retract a portion of wire 340, e.g., pre-formedcurve 345, within housing tube 200. In one or more embodiments, adecompression of actuation structure 120 may be configured to actuatepre-formed curve 345 within housing tube 200, e.g., away from housingtube distal end 201 and towards housing tube proximal end 202.Illustratively, a decompression of actuation structure 120 may beconfigured to retract pre-formed curve 345 within housing tube 200,e.g., towards housing tube proximal end 202 and away from first housingtube portion 220.

In one or more embodiments, a portion of housing tube 200 may beconfigured to generally straighten pre-formed curve 345. Illustratively,an actuation of pre-formed curve 345 into a portion of housing tube 200configured to generally straighten pre-formed curve 345 may beconfigured to cause housing tube 200 to gradually straighten. In one ormore embodiments, an actuation of pre-formed curve 345 out from aportion of housing tube 200, e.g., first housing tube portion 220, maybe configured to cause housing tube 200 to gradually straighten. Forexample, as pre-formed curve 345 is actuated into a portion of housingtube 200 and out from first housing tube portion 220, one or moreproperties, e.g., a stiffness, of the housing tube 200 portion may beconfigured to cause pre-formed curve 345 to gradually straighten.Illustratively, a decompression of actuation structure 120 may beconfigured to gradually straighten housing tube 200. In one or moreembodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250. Illustratively, adecompression of actuation structure 120 may be configured to graduallystraighten optic fiber 250.

FIGS. 4A, 4B, 4C, 4D, and 4E illustrate a gradual curving of an opticfiber 250. FIG. 4A illustrates a straight optic fiber 400. In one ormore embodiments, optic fiber 250 may comprise a straight optic fiber400, e.g., when actuation ring 130 is fully retracted relative to handlebase 110. Illustratively, optic fiber 250 may comprise a straight opticfiber 400, e.g., when wire 340 is fully refracted relative to housingtube 200. In one or more embodiments, optic fiber 250 may comprise astraight optic fiber 400, e.g., when actuation structure 120 is fullydecompressed. Illustratively, a line tangent to optic fiber distal end251 may be parallel to a line tangent to housing tube proximal end 202,e.g., when optic fiber 250 comprises a straight optic fiber 400.

FIG. 4B illustrates an optic fiber in a first curved position 410. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250 from a straight opticfiber 400 to an optic fiber in a first curved position 410.Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend wire 340 relative to housing tube 200. Inone or more embodiments, an extension of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, an extension of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from a straightoptic fiber 400 to an optic fiber in a first curved position 410.Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a firstangle, e.g., when optic fiber 250 comprises an optic fiber in a firstcurved position 410. In one or more embodiments, the first angle maycomprise any angle greater than zero degrees. For example, the firstangle may comprise a 45 degree angle.

FIG. 4C illustrates an optic fiber in a second curved position 420. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250 from an optic fiber in afirst curved position 410 to an optic fiber in a second curved position420. Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend wire 340 relative to housing tube 200. Inone or more embodiments, an extension of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, an extension of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from an optic fiberin a first curved position 410 to an optic fiber in a second curvedposition 420. Illustratively, a line tangent to optic fiber distal end251 may intersect a line tangent to housing tube proximal end 202 at asecond angle, e.g., when optic fiber 250 comprises an optic fiber in asecond curved position 420. In one or more embodiments, the second anglemay comprise any angle greater than the first angle. For example, thesecond angle may comprise a 90 degree angle.

FIG. 4D illustrates an optic fiber in a third curved position 430. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250 from an optic fiber in asecond curved position 420 to an optic fiber in a third curved position430. Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend wire 340 relative to housing tube 200. Inone or more embodiments, an extension of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, an extension of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from an optic fiberin a second curved position 420 to an optic fiber in a third curvedposition 430. Illustratively, a line tangent to optic fiber distal end251 may intersect a line tangent to housing tube proximal end 202 at athird angle, e.g., when optic fiber 250 comprises an optic fiber in athird curved position 430. In one or more embodiments, the third anglemay comprise any angle greater than the second angle. For example, thethird angle may comprise a 135 degree angle.

FIG. 4E illustrates an optic fiber in a fourth curved position 440. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to gradually curve optic fiber 250 from an optic fiber in athird curved position 430 to an optic fiber in a fourth curved position440. Illustratively, a compression of actuation structure 120 may beconfigured to gradually extend wire 340 relative to housing tube 200. Inone or more embodiments, an extension of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, an extension of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 120 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from an optic fiberin a third curved position 430 to an optic fiber in a fourth curvedposition 440. Illustratively, a line tangent to optic fiber distal end251 may be parallel to a line tangent to housing tube proximal end 202,e.g., when optic fiber 250 comprises an optic fiber in a fourth curvedposition 440.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 200 extends fromhousing tube platform 150 may be adjusted to vary an amount ofcompression of actuation structure 120 configured to curve housing tube200 to a particular curved position. Illustratively, a length of wire340 may be adjusted to vary an amount of compression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a stiffness of firsthousing tube portion 220 or a stiffness of second housing tube portion230 may be adjusted to vary an amount of compression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position. Illustratively, a geometry of pre-formed curve 345 maybe adjusted to vary an amount of compression of actuation structure 120configured to curve housing tube 200 to a particular curved position. Inone or more embodiments, a material comprising wire 340 or a materialcomprising a portion of wire 340, e.g., pre-formed curve 345, may beadjusted to vary an amount of compression of actuation structure 120configured to curve housing tube 200 to a particular curved position.Illustratively, a material comprising first housing tube portion 220 ora material comprising second housing tube portion 230 may be adjusted tovary an amount of compression of actuation structure 120 configured tocurve housing tube 200 to a particular curved position.

In one or more embodiments, a number of apertures in housing tube 200may be adjusted to vary an amount of compression of actuation structure120 configured to curve housing tube 200 to a particular curvedposition. Illustratively, a location of one or more apertures in housingtube 200 may be adjusted to vary an amount of compression of actuationstructure 120 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a geometry of one or moreapertures in housing tube 200 may be adjusted to vary an amount ofcompression of action structure 120 configured to curve housing tube 200to a particular curved position. Illustratively, a geometry of one ormore apertures in housing tube 200 may be uniform, e.g., each apertureof the one or more apertures may have a same geometry. In one or moreembodiments, a geometry of one or more apertures in housing tube 200 maybe non-uniform, e.g., a first aperture in housing tube 200 may have afirst geometry and a second aperture in housing tube 200 may have asecond geometry.

Illustratively, a distance that housing tube platform 150 extends fromhandle proximal end 102 may be adjusted to vary an amount of compressionof actuation structure 120 configured to curve housing tube 200 to aparticular curved position. In one or more embodiments, a geometry ofactuation structure 120 may be adjusted to vary an amount of compressionof actuation structure 120 configured to curve housing tube 200 to aparticular curved position. Illustratively, at least a portion of opticfiber 250 may be enclosed in an optic fiber sleeve configured to, e.g.,protect optic fiber 250, vary a stiffness of optic fiber 250, vary anoptical property of optic fiber 250, etc.

Illustratively, a stiffness of first housing tube portion 220 or astiffness of second housing tube portion 230 may be adjusted to vary abend radius of housing tube 200. In one or more embodiments, a stiffnessof first housing tube portion 220 or a stiffness of second housing tubeportion 230 may be adjusted to vary a radius of curvature of housingtube 200, e.g., when housing tube 200 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 200 maybe adjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a number of apertures in housing tube 200 may be adjustedto vary a radius of curvature of housing tube 200, e.g., when housingtube 200 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 200 may beadjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 200 may be adjusted to vary a radius of curvature ofhousing tube 200, e.g., when housing tube 200 is in a particular curvedposition.

In one or more embodiments, a location of pre-formed curve 345 of wire340 or a location of first housing tube portion 220 of housing tube 200may be adjusted to vary one or more steerable laser probe features.Illustratively, a location of pre-formed curve 345 or a location offirst housing tube portion 220 may be adjusted wherein a portion ofpre-formed curve 345 may be disposed within first housing tube portion220. In one or more embodiments, a relative location of pre-formed curve345 and first housing tube portion 220 may be adjusted wherein acompression of actuation structure 120 may be configured to extend aportion of pre-formed curve 345 out from first housing tube portion 220and into a portion of housing tube 200 configured to generallystraighten pre-formed curve 345. Illustratively, a compression ofactuation structure 120 may be configured to gradually straightenhousing tube 200. In one or more embodiments, a gradual straightening ofhousing tube 200 may be configured to gradually straighten optic fiber250.

Illustratively, wire 340 may comprise any suitable structure, e.g., wire340 may comprise a cable. For example, wire 340 may comprise a cablehaving a pre-formed curve 345. In one or more embodiments, wire 340 maybe replaced with a tube or a portion of wire 340 may comprise an innerbore. For example, wire 340 may be replaced with a tube having apre-formed curve 345.

Illustratively, a location of pre-formed curve 345 or a location offirst housing tube portion 220 may be adjusted wherein a portion ofpre-formed curve 345 may be disposed within a portion of housing tube200 configured to generally straighten pre-formed curve 345. In one ormore embodiments, a relative location of pre-formed curve 345 and firsthousing tube portion 220 may be adjusted wherein a decompression ofactuation structure 120 may be configured to retract a portion ofpre-formed curve 345 into first housing tube portion 220 and out from aportion of housing tube 200 configured to generally straightenpre-formed curve 345. Illustratively, a decompression of actuationstructure 120 may be configured to gradually curve housing tube 200. Inone or more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250.

FIGS. 5A, 5B, 5C, 5D, and 5E illustrate a gradual straightening of anoptic fiber 250. FIG. 5A illustrates a fully curved optic fiber 500. Inone or more embodiments, optic fiber 250 may comprise a fully curvedoptic fiber 500, e.g., when actuation ring 130 is fully extendedrelative to handle base 110. Illustratively, optic fiber 250 maycomprise a fully curved optic fiber 500, e.g., when wire 340 is fullyextended relative to housing tube 200. In one or more embodiments, opticfiber 250 may comprise a fully curved optic fiber 500, e.g., whenactuation structure 120 is fully compressed. Illustratively, a linetangent to optic fiber distal end 251 may be parallel to a line tangentto housing tube proxies mal end 202, e.g., when optic fiber 250comprises a fully curved optic fiber 500.

FIG. 5B illustrates an optic fiber in a first partially straightenedposition 510. In one or more embodiments, a decompression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from a fully curved optic fiber 500 to an optic fiber in a firstpartially straightened position 510. Illustratively, a decompression ofactuation structure 120 may be configured to gradually retract wire 340relative to housing tube 200. In one or more embodiments, a retractionof wire 340 relative to housing tube 200 may be configured to actuate aportion of pre-formed curve 345 into a portion of housing tube 200,e.g., a portion of housing tube 200 configured to generally straightenpre-formed curve 345. Illustratively, a retraction of wire 340 relativeto housing tube 200 may be configured to actuate a portion of pre-formedcurve 345 out from a portion of housing tube 200, e.g., first housingtube portion 220. In one or more embodiments, a decompression ofactuation structure 120 may be configured to gradually straighten aportion of pre-formed curve 345. Illustratively, a gradual straighteningof a portion of pre-formed curve 345 may be configured to graduallystraighten housing tube 200. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from a fully curved optic fiber 500 toan optic fiber in a first partially straightened position 510.Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a firstpartially straightened angle, e.g., when optic fiber 250 comprises anoptic fiber in a first partially straightened position 510. In one ormore embodiments, the first partially straightened angle may compriseany angle less than 180 degrees. For example, the first partiallystraightened angle may comprise a 135 degree angle.

FIG. 5C illustrates an optic fiber in a second partially straightenedposition 520. In one or more embodiments, a decompression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from an optic fiber in a first partially straightened position 510 to anoptic fiber in a second partially straightened position 520.Illustratively, a decompression of actuation structure 120 may beconfigured to gradually retract wire 340 relative to housing tube 200.In one or more embodiments, a retraction of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345into a portion of housing tube 200, e.g., a portion of housing tube 200configured to generally straighten pre-formed curve 345. Illustratively,a retraction of wire 340 relative to housing tube 200 may be configuredto actuate a portion of pre-formed curve 345 out from a portion ofhousing tube 200, e.g., first housing tube portion 220. In one or moreembodiments, a decompression of actuation structure 120 may beconfigured to gradually straighten a portion of pre-formed curve 345.Illustratively, a gradual straightening of a portion of pre-formed curve345 may be configured to gradually straighten housing tube 200. In oneor more embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from an opticfiber in a first partially straightened position 510 to an optic fiberin a second partially straightened position 520. Illustratively, a linetangent to optic fiber distal end 251 may intersect a line tangent tohousing tube proximal end 202 at a second partially straightened angle,e.g., when optic fiber 250 comprises an optic fiber in a secondpartially straightened position 520. In one or more embodiments, thesecond partially straightened angle may comprise any angle less than thefirst partially straightened angle. For example, the second partiallystraightened angle may comprise a 90 degree angle.

FIG. 5D illustrates an optic fiber in a third partially straightenedposition 530. In one or more embodiments, a decompression of actuationstructure 120 may be configured to gradually straighten optic fiber 250from an optic fiber in a second partially straightened position 520 toan optic fiber in a third partially straightened position 530.Illustratively, a decompression of actuation structure 120 may beconfigured to gradually retract wire 340 relative to housing tube 200.In one or more embodiments, a retraction of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345into a portion of housing tube 200, e.g., a portion of housing tube 200configured to generally straighten pre-formed curve 345. Illustratively,a retraction of wire 340 relative to housing tube 200 may be configuredto actuate a portion of pre-formed curve 345 out from a portion ofhousing tube 200, e.g., first housing tube portion 220. In one or moreembodiments, a decompression of actuation structure 120 may beconfigured to gradually straighten a portion of pre-formed curve 345.Illustratively, a gradual straightening of a portion of pre-formed curve345 may be configured to gradually straighten housing tube 200. In oneor more embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from an opticfiber in a second partially straightened position 520 to an optic fiberin a third partially straightened position 530. Illustratively, a linetangent to optic fiber distal end 251 may intersect a line tangent tohousing tube proximal end 202 at a third partially straightened angle,e.g., when optic fiber 250 comprises an optic fiber in a third partiallystraightened position 530. In one or more embodiments, the thirdpartially straightened angle may comprise any angle less than the secondpartially straightened angle. For example, the third partiallystraightened angle may comprise a 45 degree angle.

FIG. 5E illustrates an optic fiber in a fully straightened position 540.In one or more embodiments, a decompression of actuation structure 120may be configured to gradually straighten optic fiber 250 from an opticfiber in a third partially straightened position 530 to an optic fiberin a fully straightened position 540. Illustratively, a decompression ofactuation structure 120 may be configured to gradually retract wire 340relative to housing tube 200. In one or more embodiments, a retractionof wire 340 relative to housing tube 200 may be configured to actuate aportion of pre-formed curve 345 into a portion of housing tube 200,e.g., a portion of housing tube 200 configured to generally straightenpre-formed curve 345. Illustratively, a retraction of wire 340 relativeto housing tube 200 may be configured to actuate a portion of pre-formedcurve 345 out from a portion of housing tube 200, e.g., first housingtube portion 220. In one or more embodiments, a decompression ofactuation structure 120 may be configured to gradually straighten aportion of pre-formed curve 345. Illustratively, a gradual straighteningof a portion of pre-formed curve 345 may be configured to graduallystraighten housing tube 200. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a thirdpartially straightened position 530 to an optic fiber in a fullystraightened position 540. Illustratively, a line tangent to optic fiberdistal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises an optic fiber ina fully straightened position 540.

Illustratively, a surgeon may aim optic fiber distal end 251 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 251 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 100 to orient housing tube 200 in anorientation configured to cause a curvature of housing tube 200 withinthe particular transverse plane of the inner eye and varying an amountof compression of actuation structure 120. Illustratively, a surgeon mayaim optic fiber distal end 251 at any target within a particularsagittal plane of the inner eye by, e.g., rotating handle 100 to orienthousing tube 200 in an orientation configured to cause a curvature ofhousing tube 200 within the particular sagittal plane of the inner eyeand varying an amount of compression of actuation structure 120. In oneor more embodiments, a surgeon may aim optic fiber distal end 251 at anytarget within a particular frontal plane of the inner eye by, e.g.,varying an amount of compression of actuation structure 120 to orient aline tangent to optic fiber distal end 251 wherein the line tangent tooptic fiber distal end 251 is within the particular frontal plane of theinner eye and rotating handle 100. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target located outside of theparticular transverse plane, the particular sagittal plane, and theparticular frontal plane of the inner eye, e.g., by varying a rotationalorientation of handle 100 and varying an amount of compression ofactuation structure 120. In one or more embodiments, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without increasing a length of a portion of asteerable laser probe within the eye. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without decreasing a length of a portion of asteerable laser probe within the eye.

FIGS. 6A and 6B are schematic diagrams illustrating a handle 600. FIG.6A illustrates a top view of handle 600. In one or more embodiments,handle 600 may comprise a handle distal end 601, a handle proximal end602, a handle base 610, an actuation structure 620, a housing tubeplatform 630, and an actuation platform 640. Illustratively, actuationplatform 640 may comprise an actuation platform distal end 641 and anactuation platform proximal end 642. In one or more embodiments,actuation structure 620 may comprise a plurality of actuation arms 625.Illustratively, each actuation arm 625 may comprise at least oneextension mechanism 626. In one or more embodiments, each actuation arm625 may comprise an inverted actuation joint 627.

Illustratively, actuation structure 620 may be compressed, e.g., by anapplication of a compressive force to actuation structure 620. In one ormore embodiments, actuation structure 620 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 620.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure620. For example, a surgeon may compress actuation structure 620, e.g.,by squeezing actuation structure 620. Illustratively, the surgeon maycompress actuation structure 620 by squeezing actuation structure 620 atany particular location of a plurality of locations around an outerperimeter of actuation structure 620. For example, a surgeon may rotatehandle 600 and compress actuation structure 620 from any rotationalposition of a plurality of rotational positions of handle 600.

In one or more embodiments, actuation structure 620 may be compressed byan application of a compressive force to any one or more of theplurality of actuation arms 625. Illustratively, each actuation arm 625may be configured to actuate independently. In one or more embodiments,each actuation arm 625 may be connected to one or more of the pluralityof actuation arms 625 wherein an actuation of a particular actuation arm625 may be configured to actuate every actuation arm 625 of theplurality of actuation arms 625. In one or more embodiments, acompression of actuation structure 620, e.g., due to an application of acompressive force to a particular actuation arm 625, may be configuredto actuate the particular actuation arm 625. Illustratively, anactuation of the particular actuation arm 625 may be configured toactuate every actuation arm 625 of the plurality of actuation arms 625.In one or more embodiments, an application of a compressive force to aparticular actuation arm 625 may be configured to extend at least oneextension mechanism 626 of the particular actuation arm 625.

Illustratively, an application of a compressive force to a particularactuation arm 625 may be configured to retract actuation platform 640relative to handle base 610. In one or more embodiments, as a particularactuation arm 625 is compressed, e.g., due to an application of acompressive force to the particular actuation arm 625, an invertedactuation joint 627 of the particular actuation arm 625 may beconfigured to gradually retract actuation platform 640 relative tohandle base 610. Illustratively, inverted actuation joint 627 may beconfigured to retract actuation platform 640 relative to handle base610, e.g., by transferring a compressive force applied to actuationstructure 620 to a force applied to actuation platform distal end 641.For example, when a compressive force is applied to a particularactuation arm 625, e.g., and the particular actuation arm 625 isextended by at least one extension mechanism 626 of the particularactuation arm 625, an inverted actuation joint 627 of the particularactuation arm 625 may be configured to retract actuation platform 640relative to handle base 610.

FIG. 6B illustrates a cross-sectional view of handle 600. In one or moreembodiments, handle 600 may comprise an inner bore 660, an inner boreproximal taper 661, an actuation mechanism housing 645, an inner boredistal chamber 662, a wire housing 663, and a wire guide 665. Handle 600may be manufactured from any suitable material, e.g., polymers, metals,metal alloys, etc., or from any combination of suitable materials.

FIG. 7 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 700. In one or more embodiments, asteerable laser probe assembly 700 may comprise a housing tube 200having a housing tube distal end 201, a housing tube proximal end 202, afirst housing tube portion 220, and a second housing tube portion 230; awire 340 having a wire distal end 341, a wire proximal end 342, and apre-formed curve 345; an optic fiber 250 having an optic fiber distalend 251 and an optic fiber proximal end 252; a light source interface320; and an actuation mechanism 710. Illustratively, light sourceinterface 320 may be configured to interface with optic fiber 250, e.g.,at optic fiber proximal end 252. In one or more embodiments, lightsource interface 320 may comprise a standard light source connector,e.g., an SMA connector.

Illustratively, housing tube 200 may be fixed to housing tube platform630, e.g., housing tube proximal end 202 may be fixed to housing tubeplatform 630. In one or more embodiments, housing tube 200 may be fixedto housing tube platform 630, e.g., by an adhesive or by any suitablefixation means. Illustratively, a portion of housing tube 200 may bedisposed within wire guide 665, e.g., housing tube proximal end 202 maybe disposed within wire guide 665. In one or more embodiments, housingtube proximal end 202 may be fixed within wire guide 665, e.g., by anadhesive or by any suitable fixation means.

Illustratively, optic fiber 250 may be disposed within inner bore 660,inner bore distal chamber 662, wire housing 663, wire guide 665, andhousing tube 200. In one or more embodiments, optic fiber 250 may bedisposed within housing tube 200 wherein optic fiber distal end 251 isadjacent to housing tube distal end 201. Illustratively, a portion ofoptic fiber 250 may be fixed to an inner portion of housing tube 200,e.g., by an adhesive or by any suitable fixation means.

Illustratively, a portion of wire 340 may comprise a pre-formed curve345. In one or more embodiments, a portion of wire 340 may comprise ashape memory material, e.g., Nitinol. Illustratively, pre-formed curve345 may comprise a shape memory material, e.g., Nitinol. In one or moreembodiments, wire 340 may be disposed within wire housing 663, wireguide 665, and housing tube 200. Illustratively, actuation mechanism 710may be disposed within actuation mechanism housing 645. In one or moreembodiments, actuation mechanism 710 may be configured to fix a portionof wire 340, e.g., wire proximal end 342, in a position relative toactuation platform 640. Illustratively, a portion of actuation mechanism710 may be disposed within wire housing 663. In one or more embodiments,actuation mechanism 710 may comprise a set screw configured to firmlyfix wire 340 in a position relative to actuation platform 640, e.g., bya press fit or any other suitable fixation means. Illustratively, aportion of wire 340, e.g., wire proximal end 342, may be fixed toactuation mechanism 710, e.g., by an adhesive or by any suitablefixation means. Wire 340 may be manufactured from any suitable material,e.g., polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

In one or more embodiments, a compression of actuation structure 620 maybe configured to actuate actuation platform 640, e.g., towards handleproximal end 602 and away from handle distal end 601. Illustratively, acompression of actuation structure 620 may be configured to retractactuation platform 640 relative to housing tube 200. In one or moreembodiments, a compression of actuation structure 620 may be configuredto retract wire 340 relative to housing tube 200. Illustratively, aretraction of wire 340 relative to housing tube 200 may be configured toretract a portion of wire 340, e.g., pre-formed curve 345, withinhousing tube 200. In one or more embodiments, a compression of actuationstructure 620 may be configured to actuate pre-formed curve 345 withinhousing tube 200, e.g., away from housing tube distal end 201 andtowards housing tube proximal end 202. Illustratively, a compression ofactuation structure 620 may be configured to retract pre-formed curve345 within housing tube 200, e.g., away from housing tube distal end 201and towards first housing tube portion 220.

In one or more embodiments, a portion of housing tube 200 may beconfigured to generally straighten pre-formed curve 345. Illustratively,an actuation of pre-formed curve 345 out of a portion of housing tube200 configured to generally straighten pre-formed curve 345 may beconfigured to cause housing tube 200 to gradually curve. In one or moreembodiments, an actuation of pre-formed curve 345 into a portion ofhousing tube 200, e.g., first housing tube portion 220, may beconfigured to cause housing tube 200 to gradually curve. For example, aspre-formed curve 345 is actuated out from a portion of housing tube 200and into first housing tube portion 220, one or more properties, e.g., astiffness, of first housing tube portion 220 may be configured to allowpre-formed curve 345 to gradually curve. Illustratively, a compressionof actuation structure 620 may be configured to gradually curve housingtube 200. In one or more embodiments, a gradual curving of housing tube200 may be configured to gradually curve optic fiber 250.Illustratively, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250.

In one or more embodiments, a decompression of actuation structure 620may be configured to actuate actuation platform 640, e.g., towardshandle distal end 601 and away from handle proximal end 602.Illustratively, a decompression of actuation structure 620 may beconfigured to extend actuation platform 640 relative to housing tube200. In one or more embodiments, a decompression of actuation structure620 may be configured to extend wire 340 relative to housing tube 200.Illustratively, an extension of wire 340 relative to housing tube 200may be configured to extend a portion of wire 340, e.g., pre-formedcurve 345, within housing tube 200. In one or more embodiments, adecompression of actuation structure 620 may be configured to actuatepre-formed curve 345 within housing tube 200, e.g., away from housingtube proximal end 202 and towards housing tube distal end 201.Illustratively, a decompression of actuation structure 620 may beconfigured to extend pre-formed curve 345 within housing tube 200, e.g.,towards housing tube distal end 201 and away from first housing tubeportion 220.

In one or more embodiments, a portion of housing tube 200 may beconfigured to generally straighten pre-formed curve 345. Illustratively,an actuation of pre-formed curve 345 into a portion of housing tube 200configured to generally straighten pre-formed curve 345 may beconfigured to cause housing tube 200 to gradually straighten. In one ormore embodiments, an actuation of pre-formed curve 345 out from aportion of housing tube 200, e.g., first housing tube portion 220, maybe configured to cause housing tube 200 to gradually straighten. Forexample, as pre-formed curve 345 is actuated into a portion of housingtube 200 and out from first housing tube portion 220, one or moreproperties, e.g., a stiffness, of the housing tube 200 portion may beconfigured to cause pre-formed curve 345 to gradually straighten.Illustratively, a decompression of actuation structure 620 may beconfigured to gradually straighten housing tube 200. In one or moreembodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250. Illustratively, adecompression of actuation structure 620 may be configured to graduallystraighten optic fiber 250.

FIGS. 8A, 8B, 8C, 8D, and 8E illustrate a gradual curving of an opticfiber 250. FIG. 8A illustrates a straight optic fiber 800. In one ormore embodiments, optic fiber 250 may comprise a straight optic fiber800, e.g., when actuation platform 640 is fully extended relative tohandle base 610. Illustratively, optic fiber 250 may comprise a straightoptic fiber 800, e.g., when wire 340 is fully extended relative tohousing tube 200. In one or more embodiments, optic fiber 250 maycomprise a straight optic fiber 800, e.g., when actuation structure 620is fully decompressed. Illustratively, a line tangent to optic fiberdistal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises a straight opticfiber 800.

FIG. 8B illustrates an optic fiber in a first curved position 810. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from a straight opticfiber 800 to an optic fiber in a first curved position 810.Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 340 relative to housing tube 200.In one or more embodiments, a refraction of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, a refraction of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from a straightoptic fiber 800 to an optic fiber in a first curved position 810.Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a firstangle, e.g., when optic fiber 250 comprises an optic fiber in a firstcurved position 810. In one or more embodiments, the first angle maycomprise any angle greater than zero degrees. For example, the firstangle may comprise a 45 degree angle.

FIG. 8C illustrates an optic fiber in a second curved position 820. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from an optic fiber in afirst curved position 810 to an optic fiber in a second curved position820. Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 340 relative to housing tube 200.In one or more embodiments, a retraction of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, a retraction of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from an optic fiberin a first curved position 810 to an optic fiber in a second curvedposition 820. Illustratively, a line tangent to optic fiber distal end251 may intersect a line tangent to housing tube proximal end 202 at asecond angle, e.g., when optic fiber 250 comprises an optic fiber in asecond curved position 820. In one or more embodiments, the second anglemay comprise any angle greater than the first angle. For example, thesecond angle may comprise a 90 degree angle.

FIG. 8D illustrates an optic fiber in a third curved position 830. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from an optic fiber in asecond curved position 820 to an optic fiber in a third curved position830. Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 340 relative to housing tube 200.In one or more embodiments, a retraction of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, a retraction of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from an optic fiberin a second curved position 820 to an optic fiber in a third curvedposition 830. Illustratively, a line tangent to optic fiber distal end251 may intersect a line tangent to housing tube proximal end 202 at athird angle, e.g., when optic fiber 250 comprises an optic fiber in athird curved position 830. In one or more embodiments, the third anglemay comprise any angle greater than the second angle. For example, thethird angle may comprise a 135 degree angle.

FIG. 8E illustrates an optic fiber in a fourth curved position 840. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to gradually curve optic fiber 250 from an optic fiber in athird curved position 830 to an optic fiber in a fourth curved position840. Illustratively, a compression of actuation structure 620 may beconfigured to gradually retract wire 340 relative to housing tube 200.In one or more embodiments, a retraction of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345out from a portion of housing tube 200, e.g., a portion of housing tube200 configured to generally straighten pre-formed curve 345.Illustratively, a retraction of wire 340 relative to housing tube 200may be configured to actuate a portion of pre-formed curve 345 into aportion of housing tube 200, e.g., first housing tube portion 220. Inone or more embodiments, a compression of actuation structure 620 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from an optic fiberin a third curved position 830 to an optic fiber in a fourth curvedposition 840. Illustratively, a line tangent to optic fiber distal end251 may be parallel to a line tangent to housing tube proximal end 202,e.g., when optic fiber 250 comprises an optic fiber in a fourth curvedposition 840.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 200 extends fromhousing tube platform 630 may be adjusted to vary an amount ofcompression of actuation structure 620 configured to curve housing tube200 to a particular curved position. Illustratively, a length of wire340 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a stiffness of firsthousing tube portion 220 or a stiffness of second housing tube portion230 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 200 to a particularcurved position. Illustratively, a geometry of pre-formed curve 345 maybe adjusted to vary an amount of compression of actuation structure 620configured to curve housing tube 200 to a particular curved position. Inone or more embodiments, a material comprising wire 340 or a materialcomprising a portion of wire 340, e.g., pre-formed curve 345, may beadjusted to vary an amount of compression of actuation structure 620configured to curve housing tube 200 to a particular curved position.Illustratively, a material comprising first housing tube portion 220 ora material comprising second housing tube portion 230 may be adjusted tovary an amount of compression of actuation structure 620 configured tocurve housing tube 200 to a particular curved position.

In one or more embodiments, a number of apertures in housing tube 200may be adjusted to vary an amount of compression of actuation structure620 configured to curve housing tube 200 to a particular curvedposition. Illustratively, a location of one or more apertures in housingtube 200 may be adjusted to vary an amount of compression of actuationstructure 620 configured to curve housing tube 200 to a particularcurved position. In one or more embodiments, a geometry of one or moreapertures in housing tube 200 may be adjusted to vary an amount ofcompression of action structure 620 configured to curve housing tube 200to a particular curved position. Illustratively, a geometry of one ormore apertures in housing tube 200 may be uniform, e.g., each apertureof the one or more apertures may have a same geometry. In one or moreembodiments, a geometry of one or more apertures in housing tube 200 maybe non-uniform, e.g., a first aperture in housing tube 200 may have afirst geometry and a second aperture in housing tube 200 may have asecond geometry.

Illustratively, a distance that housing tube platform 630 extends fromhandle proximal end 602 may be adjusted to vary an amount of compressionof actuation structure 620 configured to curve housing tube 200 to aparticular curved position. In one or more embodiments, a geometry ofactuation structure 620 may be adjusted to vary an amount of compressionof actuation structure 620 configured to curve housing tube 200 to aparticular curved position. Illustratively, at least a portion of opticfiber 250 may be enclosed in an optic fiber sleeve configured to, e.g.,protect optic fiber 250, vary a stiffness of optic fiber 250, vary anoptical property of optic fiber 250, etc.

Illustratively, a stiffness of first housing tube portion 220 or astiffness of second housing tube portion 230 may be adjusted to vary abend radius of housing tube 200. In one or more embodiments, a stiffnessof first housing tube portion 220 or a stiffness of second housing tubeportion 230 may be adjusted to vary a radius of curvature of housingtube 200, e.g., when housing tube 200 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 200 maybe adjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a number of apertures in housing tube 200 may be adjustedto vary a radius of curvature of housing tube 200, e.g., when housingtube 200 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 200 may beadjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 200 may be adjusted to vary a radius of curvature ofhousing tube 200, e.g., when housing tube 200 is in a particular curvedposition.

In one or more embodiments, a location of pre-formed curve 345 of wire340 or a location of first housing tube portion 220 of housing tube 200may be adjusted to vary one or more steerable laser probe features.Illustratively, a location of pre-formed curve 345 or a location offirst housing tube portion 220 may be adjusted wherein a portion ofpre-formed curve 345 may be disposed within first housing tube portion220. In one or more embodiments, a relative location of pre-formed curve345 and first housing tube portion 220 may be adjusted wherein acompression of actuation structure 620 may be configured to retract aportion of pre-formed curve 345 out from first housing tube portion 220and into a portion of housing tube 200 configured to generallystraighten pre-formed curve 345. Illustratively, a compression ofactuation structure 620 may be configured to gradually straightenhousing tube 200. In one or more embodiments, a gradual straightening ofhousing tube 200 may be configured to gradually straighten optic fiber250.

Illustratively, wire 340 may comprise any suitable structure, e.g., wire340 may comprise a cable. For example, wire 340 may comprise a cablehaving a pre-formed curve 345. In one or more embodiments, wire 340 maybe replaced with a tube or a portion of wire 340 may comprise an innerbore. For example, wire 340 may be replaced with a tube having apre-formed curve 345.

Illustratively, a location of pre-formed curve 345 or a location offirst housing tube portion 220 may be adjusted wherein a portion ofpre-formed curve 345 may be disposed within a portion of housing tube200 configured to generally straighten pre-formed curve 345. In one ormore embodiments, a relative location of pre-formed curve 345 and firsthousing tube portion 220 may be adjusted wherein a decompression ofactuation structure 620 may be configured to extend a portion ofpre-formed curve 345 into first housing tube portion 220 and out from aportion of housing tube 200 configured to generally straightenpre-formed curve 345. Illustratively, a decompression of actuationstructure 620 may be configured to gradually curve housing tube 200. Inone or more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250.

FIGS. 9A, 9B, 9C, 9D, and 9E illustrate a gradual straightening of anoptic fiber 250. FIG. 9A illustrates a fully curved optic fiber 900. Inone or more embodiments, optic fiber 250 may comprise a fully curvedoptic fiber 900, e.g., when actuation platform 640 is fully retractedrelative to handle base 610. Illustratively, optic fiber 250 maycomprise a fully curved optic fiber 900, e.g., when wire 340 is fullyretracted relative to housing tube 200. In one or more embodiments,optic fiber 250 may comprise a fully curved optic fiber 900, e.g., whenactuation structure 620 is fully compressed. Illustratively, a linetangent to optic fiber distal end 251 may be parallel to a line tangentto housing tube proximal end 202, e.g., when optic fiber 250 comprises afully curved optic fiber 900.

FIG. 9B illustrates an optic fiber in a first partially straightenedposition 910. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 250from a fully curved optic fiber 900 to an optic fiber in a firstpartially straightened position 910. Illustratively, a decompression ofactuation structure 920 may be configured to gradually extend wire 340relative to housing tube 200. In one or more embodiments, an extensionof wire 340 relative to housing tube 200 may be configured to actuate aportion of pre-formed curve 345 into a portion of housing tube 200,e.g., a portion of housing tube 200 configured to generally straightenpre-formed curve 345. Illustratively, an extension of wire 340 relativeto housing tube 200 may be configured to actuate a portion of pre-formedcurve 345 out from a portion of housing tube 200, e.g., first housingtube portion 220. In one or more embodiments, a decompression ofactuation structure 620 may be configured to gradually straighten aportion of pre-formed curve 345. Illustratively, a gradual straighteningof a portion of pre-formed curve 345 may be configured to graduallystraighten housing tube 200. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from a fully curved optic fiber 900 toan optic fiber in a first partially straightened position 910.Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a firstpartially straightened angle, e.g., when optic fiber 250 comprises anoptic fiber in a first partially straightened position 910. In one ormore embodiments, the first partially straightened angle may compriseany angle less than 180 degrees. For example, the first partiallystraightened angle may comprise a 135 degree angle.

FIG. 9C illustrates an optic fiber in a second partially straightenedposition 920. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 250from an optic fiber in a first partially straightened position 910 to anoptic fiber in a second partially straightened position 920.Illustratively, a decompression of actuation structure 920 may beconfigured to gradually extend wire 340 relative to housing tube 200. Inone or more embodiments, an extension of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345into a portion of housing tube 200, e.g., a portion of housing tube 200configured to generally straighten pre-formed curve 345. Illustratively,an extension of wire 340 relative to housing tube 200 may be configuredto actuate a portion of pre-formed curve 345 out from a portion ofhousing tube 200, e.g., first housing tube portion 220. In one or moreembodiments, a decompression of actuation structure 620 may beconfigured to gradually straighten a portion of pre-formed curve 345.Illustratively, a gradual straightening of a portion of pre-formed curve345 may be configured to gradually straighten housing tube 200. In oneor more embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from an opticfiber in a first partially straightened position 910 to an optic fiberin a second partially straightened position 920. Illustratively, a linetangent to optic fiber distal end 251 may intersect a line tangent tohousing tube proximal end 202 at a second partially straightened angle,e.g., when optic fiber 250 comprises an optic fiber in a secondpartially straightened position 920. In one or more embodiments, thesecond partially straightened angle may comprise any angle less than thefirst partially straightened angle. For example, the second partiallystraightened angle may comprise a 90 degree angle.

FIG. 9D illustrates an optic fiber in a third partially straightenedposition 930. In one or more embodiments, a decompression of actuationstructure 620 may be configured to gradually straighten optic fiber 250from an optic fiber in a second partially straightened position 920 toan optic fiber in a third partially straightened position 930.Illustratively, a decompression of actuation structure 920 may beconfigured to gradually extend wire 340 relative to housing tube 200. Inone or more embodiments, an extension of wire 340 relative to housingtube 200 may be configured to actuate a portion of pre-formed curve 345into a portion of housing tube 200, e.g., a portion of housing tube 200configured to generally straighten pre-formed curve 345. Illustratively,an extension of wire 340 relative to housing tube 200 may be configuredto actuate a portion of pre-formed curve 345 out from a portion ofhousing tube 200, e.g., first housing tube portion 220. In one or moreembodiments, a decompression of actuation structure 620 may beconfigured to gradually straighten a portion of pre-formed curve 345.Illustratively, a gradual straightening of a portion of pre-formed curve345 may be configured to gradually straighten housing tube 200. In oneor more embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from an opticfiber in a second partially straightened position 920 to an optic fiberin a third partially straightened position 930. Illustratively, a linetangent to optic fiber distal end 251 may intersect a line tangent tohousing tube proximal end 202 at a third partially straightened angle,e.g., when optic fiber 250 comprises an optic fiber in a third partiallystraightened position 930. In one or more embodiments, the thirdpartially straightened angle may comprise any angle less than the secondpartially straightened angle. For example, the third partiallystraightened angle may comprise a 45 degree angle.

FIG. 9E illustrates an optic fiber in a fully straightened position 940.In one or more embodiments, a decompression of actuation structure 620may be configured to gradually straighten optic fiber 250 from an opticfiber in a third partially straightened position 930 to an optic fiberin a fully straightened position 940. Illustratively, a decompression ofactuation structure 920 may be configured to gradually extend wire 340relative to housing tube 200. In one or more embodiments, an extensionof wire 340 relative to housing tube 200 may be configured to actuate aportion of pre-formed curve 345 into a portion of housing tube 200,e.g., a portion of housing tube 200 configured to generally straightenpre-formed curve 345. Illustratively, an extension of wire 340 relativeto housing tube 200 may be configured to actuate a portion of pre-formedcurve 345 out from a portion of housing tube 200, e.g., first housingtube portion 220. In one or more embodiments, a decompression ofactuation structure 620 may be configured to gradually straighten aportion of pre-formed curve 345. Illustratively, a gradual straighteningof a portion of pre-formed curve 345 may be configured to graduallystraighten housing tube 200. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a thirdpartially straightened position 930 to an optic fiber in a fullystraightened position 940. Illustratively, a line tangent to optic fiberdistal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises an optic fiber ina fully straightened position 940.

Illustratively, a surgeon may aim optic fiber distal end 251 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 251 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 600 to orient housing tube 200 in anorientation configured to cause a curvature of housing tube 200 withinthe particular transverse plane of the inner eye and varying an amountof compression of actuation structure 620. Illustratively, a surgeon mayaim optic fiber distal end 251 at any target within a particularsagittal plane of the inner eye by, e.g., rotating handle 600 to orienthousing tube 200 in an orientation configured to cause a curvature ofhousing tube 200 within the particular sagittal plane of the inner eyeand varying an amount of compression of actuation structure 620. In oneor more embodiments, a surgeon may aim optic fiber distal end 251 at anytarget within a particular frontal plane of the inner eye by, e.g.,varying an amount of compression of actuation structure 620 to orient aline tangent to optic fiber distal end 251 wherein the line tangent tooptic fiber distal end 251 is within the particular frontal plane of theinner eye and rotating handle 600. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target located outside of theparticular transverse plane, the particular sagittal plane, and theparticular frontal plane of the inner eye, e.g., by varying a rotationalorientation of handle 600 and varying an amount of compression ofactuation structure 620. In one or more embodiments, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without increasing a length of a portion of asteerable laser probe within the eye. Illustratively, a surgeon may aimoptic fiber distal end 251 at any target of a plurality of targetswithin an eye, e.g., without decreasing a length of a portion of asteerable laser probe within the eye.

FIGS. 10A and 10B are schematic diagrams illustrating a handle 1000.FIG. 10A illustrates a top view of handle 1000. Illustratively, handle1000 may comprise a handle distal end 1001, a handle proximal end 1002,a handle base 1010, an actuation structure 1020 having an actuationstructure distal end 1021 and an actuation structure proximal end 1022,and an actuation ring 1030. In one or more embodiments, actuationstructure 1020 may comprise a plurality of actuation arms 1025.Illustratively, each actuation arm 1025 may comprise at least oneextension mechanism 1026. In one or more embodiments, actuationstructure 1020 may comprise a shape memory material configured toproject actuation structure distal end 1021 a first distance fromactuation structure proximal end 1022, e.g., when actuation structure1020 is fully decompressed. Illustratively, actuation structure 1020 maycomprise a shape memory material configured to project actuationstructure distal end 1021 a second distance from actuation structureproximal end 1022, e.g., when actuation structure 1020 is fullycompressed. In one or more embodiments, the second distance fromactuation structure proximal end 1022 may be greater than the firstdistance from actuation structure proximal end 1022. Actuation structure1020 may be manufactured from any suitable material, e.g., polymers,metals, metal alloys, etc., or from any combination of suitablematerials.

Illustratively, actuation structure 1020 may be compressed by anapplication of a compressive force to actuation structure 1020. In oneor more embodiments, actuation structure 1020 may be compressed by anapplication of one or more compressive forces located at one or morelocations around an outer perimeter of actuation structure 1020.Illustratively, the one or more locations may comprise any of aplurality of locations around the outer perimeter of actuation structure1020. For example, a surgeon may compress actuation structure 1020,e.g., by squeezing actuation structure 1020. Illustratively, the surgeonmay compress actuation structure 1020 by squeezing actuation structure1020 at any particular location of a plurality of locations around anouter perimeter of actuation structure 1020. For example, a surgeon mayrotate handle 1000 and compress actuation structure 1020 from anyrotational position of a plurality of rotational positions of handle1000.

In one or more embodiments, actuation structure 1020 may be compressedby an application of a compressive force to any one or more of theplurality of actuation arms 1025. Illustratively, each actuation arm1025 may be configured to actuate independently. In one or moreembodiments, each actuation arm 1025 may be connected to one or more ofthe plurality of actuation arms 1025 wherein an actuation of aparticular actuation arm 1025 may be configured to actuate everyactuation arm 1025 of the plurality of actuation arms 1025.Illustratively, one or more actuation arms 1025 may be configured toactuate in pairs or groups. For example, an actuation of a firstactuation arm 1025 may be configured to actuate a second actuation arm1025.

In one or more embodiments, a compression of actuation structure 1020,e.g., due to an application of a compressive force to a particularactuation arm 1025, may be configured to actuate the particularactuation arm 1025. Illustratively, an actuation of the particularactuation arm 1025 may be configured to actuate every actuation arm 1025of the plurality of actuation arms 1025. In one or more embodiments, anapplication of a compressive force to a particular actuation arm 1025may be configured to extend at least one extension mechanism 1026 of theparticular actuation arm 1025. Illustratively, a particular actuationarm 1025 may be configured to extend a first length from handle base1010. In one or more embodiments, an extension of an extension mechanism1026 of the particular actuation arm 1025, e.g., due to an applicationof a compressive force to the particular actuation arm 1025, may beconfigured to extend the particular actuation arm 1025 a second lengthfrom handle base 1010. Illustratively, the second length from handlebase 1010 may be greater than the first length from handle base 1010.

In one or more embodiments, actuation ring 1030 may be fixed toactuation structure distal end 1021. Illustratively, a compression ofactuation structure 1020 may be configured to gradually extend actuationring 1030 from handle base 1010. For example, actuation ring 1030 may beconfigured to extend a first distance from actuation structure proximalend 1022, e.g., when actuation structure 1020 is fully decompressed. Inone or more embodiments, actuation ring 1030 may be configured to extenda second distance from actuation structure proximal end 1022, e.g., dueto a compression of actuation structure 1020. Illustratively, the seconddistance from actuation structure proximal end 1022 may be greater thanthe first distance from actuation structure proximal end 1022.

FIG. 10B illustrates a cross-sectional view of handle 1000. In one ormore embodiments, handle 1000 may comprise a fixation mechanism housing1040, an inner bore 1060, an inner bore proximal taper 1061, an innerbore distal chamber 1062, an optic fiber guide 1063, and a wire housing1064. Handle 1000 may be manufactured from any suitable material, e.g.,polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

FIG. 11 is a schematic diagram illustrating an exploded view of asteerable laser probe assembly 1100. In one or more embodiments,steerable laser probe assembly 1100 may comprise a handle 1000; afixation mechanism 1110; a nosecone fixation mechanism 1115; an innernosecone 1120 having an inner nosecone distal end 1121 and an innernosecone proximal end 1122; an outer nosecone 1130 having an outernosecone distal end 1131 and an outer nosecone proximal end 1132; ahousing tube 200 having a housing tube distal end 201, a housing tubeproximal end 202, a first housing tube portion 220, and a second housingtube portion 230; a wire 340 having a wire distal end 341, a wireproximal end 342, and a pre-formed curve 345; an optic fiber 250 havingan optic fiber distal end 251 and an optic fiber proximal end 252; and alight source interface 320. Illustratively, light source interface 320may be configured to interface with optic fiber 250, e.g., at opticfiber proximal end 252. In one or more embodiments, light sourceinterface 320 may comprise a standard light source connector, e.g., anSMA connector.

Illustratively, inner nosecone 1120 may be fixed to outer nosecone 1130,e.g., inner nosecone proximal end 1122 may be fixed to outer noseconedistal end 1131. In one or more embodiments, a portion of inner nosecone1120 may be disposed within a portion of outer nosecone 1130, e.g.,inner nosecone proximal end 1122 may be disposed within outer nosecone1130. Illustratively, a portion of inner nosecone 1120 may be disposedwithin a portion of outer nosecone 1130 wherein inner nosecone 1120 isfixed to outer nosecone 1130. In one or more embodiments, inner nosecone1120 may be fixed to outer nosecone 1130, e.g., by an adhesive or anysuitable fixation means. Illustratively, nosecone fixation mechanism1115 may be configured to fix inner nosecone 1120 to outer nosecone1130. For example, nosecone fixation mechanism 1115 may comprise a setscrew configured to firmly attach inner nosecone 1120 to outer nosecone1130. In one or more embodiments, inner nosecone 1120 and outer nosecone1130 may be manufactured as a single unit. Inner nosecone 1120 and outernosecone 1130 may be manufactured from any suitable material, e.g.,polymers, metals, metal alloys, etc., or from any combination ofsuitable materials.

Illustratively, outer nosecone 1130 may be fixed to actuation structure1020, e.g., outer nosecone proximal end 1132 may be fixed to handledistal end 1001. In one or more embodiments, a portion of outer nosecone1130 may be disposed within actuation ring 1030, e.g., outer noseconeproximal end 1132 may be disposed within actuation ring 1030.Illustratively, a portion of outer nosecone 1130 may be disposed withinactuation ring 1030 wherein outer nosecone 1130 is fixed to actuationring 1030. In one or more embodiments, outer nosecone 1130 may be fixedto actuation structure 1020, e.g., by an adhesive or any suitablefixation means.

Illustratively, housing tube 200 may be fixed to inner nosecone 1120,e.g., housing tube proximal end 202 may be fixed to inner noseconedistal end 1121. In one or more embodiments, housing tube 200 may befixed to inner nosecone 1120, e.g., by an adhesive or any suitablefixation means. Illustratively, a portion of housing tube 200 may bedisposed within a portion of inner nosecone 1120, e.g., housing tubeproximal end 202 may be disposed within inner nosecone 1120. In one ormore embodiments, a portion of housing tube 200 may be fixed withininner nosecone 1120, e.g., by an adhesive or any suitable fixationmeans.

Illustratively, optic fiber 250 may be disposed within inner bore 1060,optic fiber guide 1063, inner bore distal chamber 1062, and housing tube200. In one or more embodiments, optic fiber 250 may be disposed withinhousing tube 200 wherein optic fiber distal end 251 may be adjacent tohousing tube distal end 201. Illustratively, a portion of optic fiber250 may be fixed to an inner portion of housing tube 200, e.g., by anadhesive or any suitable fixation means.

In one or more embodiments, a portion of wire 340 may comprise a shapememory material, e.g., Nitinol. Illustratively, pre-formed curve 345 maycomprise a shape memory material, e.g., Nitinol. In one or moreembodiments, wire 340 may be disposed within wire housing 1064, innerbore distal chamber 1062, and housing tube 200. Illustratively, fixationmechanism 1110 may be disposed within fixation mechanism housing 1040.For example, a portion of fixation mechanism 1110 may be disposed withinwire housing 1064. Illustratively, fixation mechanism 1110 may beconfigured to fix a portion of wire 230, e.g., wire proximal end 342, ina position relative to handle 1000. In one or more embodiments, fixationmechanism 1110 may comprise a set screw configured to fix wire 340 in aposition relative to handle 1000, e.g., by a press fit or any suitablefixation means. Illustratively, a portion of wire 340, e.g., wireproximal end 342, may be fixed to fixation mechanism 1110, e.g., by anadhesive or any suitable fixation means. Wire 340 may be manufacturedfrom any suitable material, e.g., polymers, metals, metal alloys, etc.,or from any combination of suitable materials.

In one or more embodiments, a compression of actuation structure 1020may be configured to extend actuation ring 1030 relative to handle base1010. Illustratively, an extension of actuation ring 1030 relative tohandle base 1010 may be configured to extend outer nosecone 1130, innernosecone 1120, and housing tube 200 relative to handle base 1010. In oneor more embodiments, a compression of actuation structure 1020 may beconfigured to actuate housing tube 200 relative to wire 340.Illustratively, a compression of actuation structure 1020 may beconfigured to extend housing tube 200 relative to wire 340. In one ormore embodiments, an extension of housing tube 200 relative to wire 340may be configured to extend a portion of housing tube 200 over a portionof wire 340, e.g., pre-formed curve 345. Illustratively, a compressionof actuation structure 1020 may be configured to actuate a portion ofhousing tube 200 over wire 340, e.g., away from wire proximal end 342and towards wire distal end 341.

In one or more embodiments, a portion of housing tube 200 may beconfigured to generally straighten pre-formed curve 345. Illustratively,an actuation of a portion of housing tube 200, e.g., a portion ofhousing tube 200 configured to generally straighten pre-formed curve345, over a portion of pre-formed curve 345 may be configured to causehousing tube 200 to gradually straighten. In one or more embodiments, anactuation of a portion of housing tube 200, e.g., first housing tubeportion 220, away from a portion of pre-formed curve 345 may beconfigured to cause housing tube 200 to gradually straighten. Forexample, as a portion of housing tube 200 configured to generallystraighten pre-formed curve 345 is actuated over a portion of pre-formedcurve 345 one or more properties, e.g., a stiffness, of the portion ofhousing tube 200 may cause housing tube 200 to gradually straighten.Illustratively, a compression of actuation structure 1020 may beconfigured to gradually straighten housing tube 200. In one or moreembodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250. Illustratively, acompression of actuation structure 1020 may be configured to graduallystraighten optic fiber 250.

In one or more embodiments, a decompression of actuation structure 1020may be configured to retract actuation ring 1030 relative to handle base1010. Illustratively, a refraction of actuation ring 1030 relative tohandle base 1010 may be configured to retract outer nosecone 1130, innernosecone 1120, and housing tube 200 relative to handle base 1010. In oneor more embodiments, a decompression of actuation structure 1020 may beconfigured to actuate housing tube 200 relative to wire 340.Illustratively, a decompression of actuation structure 1020 may beconfigured to retract housing tube 200 relative to wire 340. In one ormore embodiments, a retraction of housing tube 200 relative to wire 340may be configured to retract a portion of housing tube 200 over aportion of wire 340, e.g., pre-formed curve 345. Illustratively, adecompression of actuation structure 1020 may be configured to actuate aportion of housing tube 200 over wire 340, e.g., towards wire proximalend 342 and away from wire distal end 341.

In one or more embodiments, a portion of housing tube 200 may beconfigured to generally straighten pre-formed curve 345. Illustratively,an actuation of a portion of housing tube 200, e.g., a portion ofhousing tube 200 configured to generally straighten pre-formed curve345, away from pre-formed curve 345 may be configured to cause housingtube 200 to gradually curve. In one or more embodiments, an actuation ofa portion of housing tube 200, e.g., first housing tube portion 220,over a portion of pre-formed curve 345 may be configured to causehousing tube 200 to gradually curve. For example, as a portion of firsthousing tube portion 220 is actuated over a portion of pre-formed curve345 one or more properties, e.g., a stiffness, of first housing tubeportion 220 may be configured to allow pre-formed curve 345 to graduallycurve. Illustratively, a decompression of actuation structure 1020 maybe configured to gradually curve housing tube 200. In one or moreembodiments, a gradual curving of housing tube 200 may be configured togradually curve optic fiber 250. Illustratively, a decompression ofactuation structure 1020 may be configured to gradually curve opticfiber 250.

FIGS. 12A, 12B, 12C, 12D, and 12E illustrate a gradual curving of anoptic fiber 250. FIG. 12A illustrates a straight optic fiber 1200. Inone or more embodiments, optic fiber 250 may comprise a straight opticfiber 1200, e.g., when actuation ring 1030 is fully extended relative tohandle base 1010. Illustratively, optic fiber 250 may comprise astraight optic fiber 1200, e.g., when housing tube 200 is fully extendedrelative to wire 340. In one or more embodiments, optic fiber 250 maycomprise a straight optic fiber 1200, e.g., when actuation structure1020 is fully compressed. Illustratively, a line tangent to optic fiberdistal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises a straight opticfiber 1200.

FIG. 12B illustrates an optic fiber in a first curved position 1210. Inone or more embodiments, a decompression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from a straight opticfiber 1200 to an optic fiber in a first curved position 1210.Illustratively, a decompression of actuation structure 1020 may beconfigured to gradually retract housing tube 200 relative to wire 340.In one or more embodiments, a refraction of housing tube 200 relative towire 340 may be configured to actuate a portion of housing tube 200,e.g., a portion of housing tube 200 configured to generally straightenpre-formed curve 345, away from a portion of pre-formed curve 345.Illustratively, a retraction of housing tube 200 relative to wire 340may be configured to actuate a portion of housing tube 200, e.g., firsthousing tube portion 220, over a portion of pre-formed curve 345. In oneor more embodiments, a decompression of actuation structure 1020 may beconfigured to allow a portion of pre-formed curve 345 to graduallycurve. Illustratively, a gradual curving of a portion of pre-formedcurve 345 may be configured to gradually curve housing tube 200. In oneor more embodiments, a gradual curving of housing tube 200 may beconfigured to gradually curve optic fiber 250, e.g., from a straightoptic fiber 1200 to an optic fiber in a first curved position 1210.Illustratively, a line tangent to optic fiber distal end 251 mayintersect a line tangent to housing tube proximal end 202 at a firstangle, e.g., when optic fiber 250 comprises an optic fiber in a firstcurved position 1210. In one or more embodiments, the first angle maycomprise any angle greater than zero degrees. For example, the firstangle may comprise a 45 degree angle.

FIG. 12C illustrates an optic fiber in a second curved position 1220. Inone or more embodiments, a decompression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from an optic fiber ina first curved position 1210 to an optic fiber in a second curvedposition 1220. Illustratively, a decompression of actuation structure1020 may be configured to gradually retract housing tube 200 relative towire 340. In one or more embodiments, a retraction of housing tube 200relative to wire 340 may be configured to actuate a portion of housingtube 200, e.g., a portion of housing tube 200 configured to generallystraighten pre-formed curve 345, away from a portion of pre-formed curve345. Illustratively, a retraction of housing tube 200 relative to wire340 may be configured to actuate a portion of housing tube 200, e.g.,first housing tube portion 220, over a portion of pre-formed curve 345.In one or more embodiments, a decompression of actuation structure 1020may be configured to allow a portion of pre-formed curve 345 togradually curve. Illustratively, a gradual curving of a portion ofpre-formed curve 345 may be configured to gradually curve housing tube200. In one or more embodiments, a gradual curving of housing tube 200may be configured to gradually curve optic fiber 250, e.g., from anoptic fiber in a first curved position 1210 to an optic fiber in asecond curved position 1220. Illustratively, a line tangent to opticfiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a second angle, e.g., when optic fiber 250 comprisesan optic fiber in a second curved position 1220. In one or moreembodiments, the second angle may comprise any angle greater than thefirst angle. For example, the second angle may comprise a 90 degreeangle.

FIG. 12D illustrates an optic fiber in a third curved position 1230. Inone or more embodiments, a decompression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from an optic fiber ina second curved position 1220 to an optic fiber in a third curvedposition 1230. Illustratively, a decompression of actuation structure1020 may be configured to gradually retract housing tube 200 relative towire 340. In one or more embodiments, a retraction of housing tube 200relative to wire 340 may be configured to actuate a portion of housingtube 200, e.g., a portion of housing tube 200 configured to generallystraighten pre-formed curve 345, away from a portion of pre-formed curve345. Illustratively, a retraction of housing tube 200 relative to wire340 may be configured to actuate a portion of housing tube 200, e.g.,first housing tube portion 220, over a portion of pre-formed curve 345.In one or more embodiments, a decompression of actuation structure 1020may be configured to allow a portion of pre-formed curve 345 togradually curve. Illustratively, a gradual curving of a portion ofpre-formed curve 345 may be configured to gradually curve housing tube200. In one or more embodiments, a gradual curving of housing tube 200may be configured to gradually curve optic fiber 250, e.g., from anoptic fiber in a second curved position 1220 to an optic fiber in athird curved position 1230. Illustratively, a line tangent to opticfiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a third angle, e.g., when optic fiber 250 comprisesan optic fiber in a third curved position 1230. In one or moreembodiments, the third angle may comprise any angle greater than thesecond angle. For example, the third angle may comprise a 135 degreeangle.

FIG. 12E illustrates an optic fiber in a fourth curved position 1240. Inone or more embodiments, a decompression of actuation structure 1020 maybe configured to gradually curve optic fiber 250 from an optic fiber ina third curved position 1230 to an optic fiber in a fourth curvedposition 1240. Illustratively, a decompression of actuation structure1020 may be configured to gradually retract housing tube 200 relative towire 340. In one or more embodiments, a retraction of housing tube 200relative to wire 340 may be configured to actuate a portion of housingtube 200, e.g., a portion of housing tube 200 configured to generallystraighten pre-formed curve 345, away from a portion of pre-formed curve345. Illustratively, a retraction of housing tube 200 relative to wire340 may be configured to actuate a portion of housing tube 200, e.g.,first housing tube portion 220, over a portion of pre-formed curve 345.In one or more embodiments, a decompression of actuation structure 1020may be configured to allow a portion of pre-formed curve 345 togradually curve. Illustratively, a gradual curving of a portion ofpre-formed curve 345 may be configured to gradually curve housing tube200. In one or more embodiments, a gradual curving of housing tube 200may be configured to gradually curve optic fiber 250, e.g., from anoptic fiber in a third curved position 1230 to an optic fiber in afourth curved position 1240. Illustratively, a line tangent to opticfiber distal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises an optic fiber ina fourth curved position 1240.

In one or more embodiments, one or more properties of a steerable laserprobe may be adjusted to attain one or more desired steerable laserprobe features. For example, a length that housing tube 200 extends frominner nosecone 1120 may be adjusted to vary an amount of decompressionof actuation structure 1020 configured to curve housing tube 200 to aparticular curved position. Illustratively, a length of wire 340 may beadjusted to vary an amount of decompression of actuation structure 1020configured to curve housing tube 200 to a particular curved position. Inone or more embodiments, a stiffness of first housing tube portion 220or a stiffness of second housing tube portion 230 may be adjusted tovary an amount of decompression of actuation structure 1020 configuredto curve housing tube 200 to a particular curved position.Illustratively, a geometry of pre-formed curve 345 may be adjusted tovary an amount of decompression of actuation structure 1020 configuredto curve housing tube 200 to a particular curved position. In one ormore embodiments, a material comprising wire 340 or a materialcomprising a portion of wire 340, e.g., pre-formed curve 345, may beadjusted to vary an amount of decompression of actuation structure 1020configured to curve housing tube 200 to a particular curved position.Illustratively, a material comprising first housing tube portion 220 ora material comprising second housing tube portion 230 may be adjusted tovary an amount of decompression of actuation structure 1020 configuredto curve housing tube 200 to a particular curved position.

In one or more embodiments, a number of apertures in housing tube 200may be adjusted to vary an amount of decompression of actuationstructure 1020 configured to curve housing tube 200 to a particularcurved position. Illustratively, a location of one or more apertures inhousing tube 200 may be adjusted to vary an amount of decompression ofactuation structure 1020 configured to curve housing tube 200 to aparticular curved position. In one or more embodiments, a geometry ofone or more apertures in housing tube 200 may be adjusted to vary anamount of decompression of action structure 1020 configured to curvehousing tube 200 to a particular curved position. Illustratively, ageometry of one or more apertures in housing tube 200 may be uniform,e.g., each aperture of the one or more apertures may have a samegeometry. In one or more embodiments, a geometry of one or moreapertures in housing tube 200 may be non-uniform, e.g., a first aperturein housing tube 200 may have a first geometry and a second aperture inhousing tube 200 may have a second geometry.

Illustratively, a distance that inner nosecone 1120 extends from handleproximal end 1002 may be adjusted to vary an amount of decompression ofactuation structure 1020 configured to curve housing tube 200 to aparticular curved position. For example, a distance that inner noseconedistal end 1121 extends from outer nosecone distal end 1131 may beadjusted to vary an amount of decompression of actuation structure 1020configured to curve housing tube 200 to a particular curved position. Inone or more embodiments, a geometry of actuation structure 1020 may beadjusted to vary an amount of decompression of actuation structure 1020configured to curve housing tube 200 to a particular curved position.Illustratively, at least a portion of optic fiber 250 may be enclosed inan optic fiber sleeve configured to, e.g., protect optic fiber 250, varya stiffness of optic fiber 250, vary an optical property of optic fiber250, etc.

Illustratively, a stiffness of first housing tube portion 220 or astiffness of second housing tube portion 230 may be adjusted to vary abend radius of housing tube 200. In one or more embodiments, a stiffnessof first housing tube portion 220 or a stiffness of second housing tubeportion 230 may be adjusted to vary a radius of curvature of housingtube 200, e.g., when housing tube 200 is in a particular curvedposition. Illustratively, a number of apertures in housing tube 200 maybe adjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a number of apertures in housing tube 200 may be adjustedto vary a radius of curvature of housing tube 200, e.g., when housingtube 200 is in a particular curved position. Illustratively, a locationor a geometry of one or more apertures in housing tube 200 may beadjusted to vary a bend radius of housing tube 200. In one or moreembodiments, a location or a geometry of one or more apertures inhousing tube 200 may be adjusted to vary a radius of curvature ofhousing tube 200, e.g., when housing tube 200 is in a particular curvedposition.

In one or more embodiments, a location of pre-formed curve 345 of wire340 or a location of first housing tube portion 220 of housing tube 200may be adjusted to vary one or more steerable laser probe features.Illustratively, a location of pre-formed curve 345 or a location offirst housing tube portion 220 may be adjusted wherein a portion ofpre-formed curve 345 may be disposed within first housing tube portion220. In one or more embodiments, a relative location of pre-formed curve345 and first housing tube portion 220 may be adjusted wherein adecompression of actuation structure 1020 may retract first housing tubeportion 220 away from pre-formed curve 345 and retract a portion ofhousing tube 200 configured to generally straighten pre-formed curve 345over a portion of pre-formed curve 345. Illustratively, a decompressionof actuation structure 1020 may be configured to gradually straightenhousing tube 200. In one or more embodiments, a gradual straightening ofhousing tube 200 may be configured to gradually straighten optic fiber250.

Illustratively, wire 340 may comprise any suitable structure, e.g., wire340 may comprise a cable. For example, wire 340 may comprise a cablehaving a pre-formed curve 345. In one or more embodiments, wire 340 maybe replaced with a tube or a portion of wire 340 may comprise an innerbore. For example, wire 340 may be replaced with a tube having apre-formed curve 345.

Illustratively, a location of pre-formed curve 345 or a location offirst housing tube portion 220 may be adjusted wherein a portion ofpre-formed curve 345 may be disposed within a portion of housing tube200 configured to generally straighten pre-formed curve 345. In one ormore embodiments, a relative location of pre-formed curve 345 and firsthousing tube portion 220 may be adjusted wherein a compression ofactuation structure 1020 may extend a portion of housing tube 200configured to generally straighten pre-formed curve 345 away frompre-formed curve 345 and extend a portion of first housing tube portion220 over a portion of pre-formed curve 345. Illustratively, acompression of actuation structure 1020 may be configured to graduallycurve housing tube 200. In one or more embodiments, a gradual curving ofhousing tube 200 may be configured to gradually curve optic fiber 250.

FIGS. 13A, 13B, 13C, 13D, and 13E illustrate a gradual straightening ofan optic fiber 250. FIG. 13A illustrates a fully curved optic fiber1300. In one or more embodiments, optic fiber 250 may comprise a fullycurved optic fiber 1300, e.g., when actuation ring 1030 is fullyretracted relative to handle base 1010. Illustratively, optic fiber 250may comprise a fully curved optic fiber 1300, e.g., when housing tube200 is fully retracted relative to wire 340. In one or more embodiments,optic fiber 250 may comprise a fully curved optic fiber 1300, e.g., whenactuation structure 1020 is fully decompressed. Illustratively, a linetangent to optic fiber distal end 251 may be parallel to a line tangentto housing tube proximal end 202, e.g., when optic fiber 250 comprises afully curved optic fiber 1300.

FIG. 13B illustrates an optic fiber in a first partially straightenedposition 1310. In one or more embodiments, a compression of actuationstructure 1020 may be configured to gradually straighten optic fiber 250from a fully curved optic fiber 1300 to an optic fiber in a firstpartially straightened position 1310. Illustratively, a compression ofactuation structure 1020 may be configured to gradually extend housingtube 200 relative to wire 340. In one or more embodiments, an extensionof housing tube 200 relative to wire 340 may be configured to extend aportion of housing tube 200, e.g., a portion of housing tube 200configured to generally straighten pre-formed curve 345, over a portionof pre-formed curve 345. Illustratively, an extension of housing tube200 relative to wire 340 may be configured to extend a portion of firsthousing tube portion 220 away from a portion of pre-formed curve 345. Inone or more embodiments, a compression of actuation structure 1020 maybe configured to gradually straighten a portion of pre-formed curve 345.Illustratively, a gradual straightening of a portion of pre-formed curve345 may be configured to gradually straighten housing tube 200. In oneor more embodiments, a gradual straightening of housing tube 200 may beconfigured to gradually straighten optic fiber 250, e.g., from a fullycurved optic fiber 1300 to an optic fiber in a first partiallystraightened position 1310. Illustratively, a line tangent to opticfiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a first partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a first partiallystraightened position 1310. In one or more embodiments, the firstpartially straightened angle may comprise any angle less than 180degrees. For example, the first partially straightened angle maycomprise a 135 degree angle.

FIG. 13C illustrates an optic fiber in a second partially straightenedposition 1320. In one or more embodiments, a compression of actuationstructure 1020 may be configured to gradually straighten optic fiber 250from an optic fiber in a first partially straightened position 1310 toan optic fiber in a second partially straightened position 1320.Illustratively, a compression of actuation structure 1020 may beconfigured to gradually extend housing tube 200 relative to wire 340. Inone or more embodiments, an extension of housing tube 200 relative towire 340 may be configured to extend a portion of housing tube 200,e.g., a portion of housing tube 200 configured to generally straightenpre-formed curve 345, over a portion of pre-formed curve 345.Illustratively, an extension of housing tube 200 relative to wire 340may be configured to extend a portion of first housing tube portion 220away from a portion of pre-formed curve 345. In one or more embodiments,a compression of actuation structure 1020 may be configured to graduallystraighten a portion of pre-formed curve 345. Illustratively, a gradualstraightening of a portion of pre-formed curve 345 may be configured togradually straighten housing tube 200. In one or more embodiments, agradual straightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a firstpartially straightened position 1310 to an optic fiber in a secondpartially straightened position 1320. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a second partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a second partiallystraightened position 1320. In one or more embodiments, the secondpartially straightened angle may comprise any angle less than the firstpartially straightened angle. For example, the second partiallystraightened angle may comprise a 90 degree angle.

FIG. 13D illustrates an optic fiber in a third partially straightenedposition 1330. In one or more embodiments, a compression of actuationstructure 1020 may be configured to gradually straighten optic fiber 250from an optic fiber in a second partially straightened position 1320 toan optic fiber in a third partially straightened position 1330.Illustratively, a compression of actuation structure 1020 may beconfigured to gradually extend housing tube 200 relative to wire 340. Inone or more embodiments, an extension of housing tube 200 relative towire 340 may be configured to extend a portion of housing tube 200,e.g., a portion of housing tube 200 configured to generally straightenpre-formed curve 345, over a portion of pre-formed curve 345.Illustratively, an extension of housing tube 200 relative to wire 340may be configured to extend a portion of first housing tube portion 220away from a portion of pre-formed curve 345. In one or more embodiments,a compression of actuation structure 1020 may be configured to graduallystraighten a portion of pre-formed curve 345. Illustratively, a gradualstraightening of a portion of pre-formed curve 345 may be configured togradually straighten housing tube 200. In one or more embodiments, agradual straightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a secondpartially straightened position 1320 to an optic fiber in a thirdpartially straightened position 1330. Illustratively, a line tangent tooptic fiber distal end 251 may intersect a line tangent to housing tubeproximal end 202 at a third partially straightened angle, e.g., whenoptic fiber 250 comprises an optic fiber in a third partiallystraightened position 1330. In one or more embodiments, the thirdpartially straightened angle may comprise any angle less than the secondpartially straightened angle. For example, the third partiallystraightened angle may comprise a 45 degree angle.

FIG. 13E illustrates an optic fiber in a fully straightened position1340. In one or more embodiments, a compression of actuation structure1020 may be configured to gradually straighten optic fiber 250 from anoptic fiber in a third partially straightened position 1330 to an opticfiber in a fully straightened position 1340. Illustratively, acompression of actuation structure 1020 may be configured to graduallyextend housing tube 200 relative to wire 340. In one or moreembodiments, an extension of housing tube 200 relative to wire 340 maybe configured to extend a portion of housing tube 200, e.g., a portionof housing tube 200 configured to generally straighten pre-formed curve345, over a portion of pre-formed curve 345. Illustratively, anextension of housing tube 200 relative to wire 340 may be configured toextend a portion of first housing tube portion 220 away from a portionof pre-formed curve 345. In one or more embodiments, a compression ofactuation structure 1020 may be configured to gradually straighten aportion of pre-formed curve 345. Illustratively, a gradual straighteningof a portion of pre-formed curve 345 may be configured to graduallystraighten housing tube 200. In one or more embodiments, a gradualstraightening of housing tube 200 may be configured to graduallystraighten optic fiber 250, e.g., from an optic fiber in a thirdpartially straightened position 1330 to an optic fiber in a fullystraightened position 1340. Illustratively, a line tangent to opticfiber distal end 251 may be parallel to a line tangent to housing tubeproximal end 202, e.g., when optic fiber 250 comprises an optic fiber ina fully straightened position 1340.

Illustratively, a surgeon may aim optic fiber distal end 251 at any of aplurality of targets within an eye, e.g., to perform a photocoagulationprocedure. In one or more embodiments, a surgeon may aim optic fiberdistal end 251 at any target within a particular transverse plane of theinner eye by, e.g., rotating handle 1000 to orient housing tube 200 inan orientation configured to cause a curvature of housing tube 200within the particular transverse plane of the inner eye and varying anamount of decompression of actuation structure 1020. Illustratively, asurgeon may aim optic fiber distal end 251 at any target within aparticular sagittal plane of the inner eye by, e.g., rotating handle1000 to orient housing tube 200 in an orientation configured to cause acurvature of housing tube 200 within the particular sagittal plane ofthe inner eye and varying an amount of decompression of actuationstructure 1020. In one or more embodiments, a surgeon may aim opticfiber distal end 251 at any target within a particular frontal plane ofthe inner eye by, e.g., varying an amount of decompression of actuationstructure 1020 to orient a line tangent to optic fiber distal end 251wherein the line tangent to optic fiber distal end 251 is within theparticular frontal plane of the inner eye and rotating handle 1000.Illustratively, a surgeon may aim optic fiber distal end 251 at anytarget located outside of the particular transverse plane, theparticular sagittal plane, and the particular frontal plane of the innereye, e.g., by varying a rotational orientation of handle 1000 andvarying an amount of decompression of actuation structure 1020. In oneor more embodiments, a surgeon may aim optic fiber distal end 251 at anytarget of a plurality of targets within an eye, e.g., without increasinga length of a portion of a steerable laser probe within the eye.Illustratively, a surgeon may aim optic fiber distal end 251 at anytarget of a plurality of targets within an eye, e.g., without decreasinga length of a portion of a steerable laser probe within the eye.

The foregoing description has been directed to particular embodiments ofthis invention. It will be apparent; however, that other variations andmodifications may be made to the described embodiments, with theattainment of some or all of their advantages. Specifically, it shouldbe noted that the principles of the present invention may be implementedin any probe system. Furthermore, while this description has beenwritten in terms of a steerable laser probe, the teachings of thepresent invention are equally suitable to systems where thefunctionality of actuation may be employed. Therefore, it the object ofthe appended claims to cover all such variations and modifications ascome within the true spirit and scope of the invention.

What is claimed is:
 1. An instrument comprising: a handle having ahandle distal end and a handle proximal end; an actuation structure ofthe handle; a plurality of actuation arms of the actuation structure; anextension mechanism of each actuation arm of the plurality of actuationarms; an inverted actuation joint of each actuation arm of the pluralityof actuation arms; an actuation platform of the handle; a housing tubehaving a housing tube distal end and a housing tube proximal end, thehousing tube having dimensions for performing ophthalmic surgicalprocedures; an optic fiber having an optic fiber distal end and an opticfiber proximal end, the optic fiber disposed within an inner bore of thehandle and the housing tube; a wire having a wire distal end and a wireproximal end, the wire disposed within the housing tube, the wireproximal end fixed to the actuation platform; a pre-formed curve of thewire; a first housing tube portion of the housing tube, the firsthousing tube portion having a first stiffness; and a second housing tubeportion of the housing tube, the second housing tube portion having asecond stiffness wherein the second stiffness is greater than the firststiffness.
 2. The instrument of claim 1 wherein a compression of theactuation structure is configured to curve the optic fiber.
 3. Theinstrument of claim 2 wherein the compression of the actuation structureis configured to curve the optic fiber more than 90 degrees.
 4. Theinstrument of claim 1 wherein a compression of the actuation structureis configured to straighten the optic fiber.
 5. The instrument of claim1 wherein a compression of the actuation structure is configured toretract the wire relative to the housing tube.
 6. The instrument ofclaim 5 wherein the compression of the actuation structure is configuredto curve the optic fiber.
 7. The instrument of claim 6 wherein thecompression of the actuation structure is configured to curve the opticfiber more than 90 degrees.
 8. The instrument of claim 5 wherein thecompression of the actuation structure is configured to straighten theoptic fiber.
 9. The instrument of claim 1 wherein a decompression of theactuation structure is configured to extend the wire relative to thehousing tube.
 10. The instrument of claim 9 wherein the decompression ofthe actuation structure is configured to curve the optic fiber.
 11. Theinstrument of claim 10 wherein the decompression of the actuationstructure is configured to curve the optic fiber more than 90 degrees.12. The instrument of claim 9 wherein the decompression of the actuationstructure is configured to straighten the optic fiber.
 13. Theinstrument of claim 1 wherein at least a portion of the wire comprisesNitinol.
 14. The instrument of claim 1 further comprising: an apertureof the first housing tube portion.
 15. The instrument of claim 14wherein the aperture is configured to produce the first stiffness. 16.The instrument of claim 1 further comprising: a slit of the firsthousing tube portion.
 17. The instrument of claim 16 wherein the slit isconfigured to produce the first stiffness.
 18. The instrument of claim16 wherein the slit is configured to minimize a force of frictionbetween the housing tube and a cannula.
 19. The instrument of claim 18wherein the slit is configured to minimize a the force of frictionbetween the housing tube and the cannula as the housing tube is insertedinto the cannula.
 20. The instrument of claim 18 wherein the slit isconfigured to minimize a the force of friction between the housing tubeand the cannula as the housing tube is extracted from the cannula.